CN109303086B - Non-contact gripper - Google Patents
Non-contact gripper Download PDFInfo
- Publication number
- CN109303086B CN109303086B CN201710624443.1A CN201710624443A CN109303086B CN 109303086 B CN109303086 B CN 109303086B CN 201710624443 A CN201710624443 A CN 201710624443A CN 109303086 B CN109303086 B CN 109303086B
- Authority
- CN
- China
- Prior art keywords
- gripper body
- dough
- dough sheet
- gripper
- annular groove
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005520 cutting process Methods 0.000 claims abstract description 26
- 238000001179 sorption measurement Methods 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 10
- 235000013312 flour Nutrition 0.000 claims description 9
- 239000010985 leather Substances 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 235000013305 food Nutrition 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 7
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 3
- 240000007643 Phytolacca americana Species 0.000 description 1
- 235000009074 Phytolacca americana Nutrition 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C5/00—Dough-dividing machines
-
- A—HUMAN NECESSITIES
- A21—BAKING; EDIBLE DOUGHS
- A21C—MACHINES OR EQUIPMENT FOR MAKING OR PROCESSING DOUGHS; HANDLING BAKED ARTICLES MADE FROM DOUGH
- A21C9/00—Other apparatus for handling dough or dough pieces
- A21C9/08—Depositing, arranging and conveying apparatus for handling pieces, e.g. sheets of dough
Abstract
The application belongs to the technical field of food processing, especially, relate to a non-contact gripper, including the gripper body, the bottom outer edge of gripper body is provided with the blade, gripper body bottom is provided with an annular groove, the side of annular groove is provided with the air outlet, the gripper body adsorbs the face skin to next station through the suction. The gripper body can directly horizontally move the dough sheet from the dough cutting station to the dough receiving station, but the dough sheet is poked into the next station vertically downwards in a non-transmission method, so that the expansibility of the whole machine is better, and when the moisture content of the processed dough sheet is higher, the problem that the dough sheet is difficult to adhere or the dough sheet is elongated and thinned is solved.
Description
Technical Field
The application belongs to the technical field of food processing, and particularly relates to a non-contact gripper.
Background
When the flour wrapper is processed by the existing stuffed food device, flour dough is often firstly pressed for a plurality of times to form flour bands, the flour bands are cut into small flour wrappers meeting requirements after being subjected to wrapper cutting treatment by a wrapper cutter device, and the small flour wrappers fall freely or are pushed downwards to the next station by the wrapper cutter device while being cut and molded, and then the stuffing wrapping and molding process is carried out.
The technical scheme of the invention is as follows, for example, the patent application number is CN201410170052.3, the application date is 2014.04.25, the invention is named as a stuffed food forming machine: the invention belongs to the technical field of food processing, and particularly relates to a stuffed food forming machine, which comprises a frame, a dough sheet conveying device, a stuffing supplying device, a dough sheet receiving plate, a taking-out device and an annular rail, wherein the dough sheet conveying device, the stuffing supplying device and the taking-out device are respectively and fixedly arranged on a dough sheet receiving station, a stuffing injecting station and a taking-out station of the annular rail, the annular rail is provided with the dough sheet receiving plate capable of moving around the annular rail, and a mold closing device of the stuffed food forming machine is arranged below the dough sheet receiving plate. The dough sheet conveying device of the patent realizes dough sheet cutting through the action of the traditional dough sheet cutter from top to bottom, and directly pokes the dough sheets downwards onto the dough receiving plate to realize stuffing filling and inclusion, but the layout always needs to reserve space for cutting downwards and conveying the dough sheets, so that certain limitation can be definitely caused on the overall design of the food stuffing wrapping machine, and when the moisture content of the processed dough sheets is large, the problem that the dough sheets are easy to adhere or are stretched and thinned in the traditional mode is solved.
Disclosure of Invention
In order to overcome the above-mentioned problems in the prior art, a non-contact gripper is now proposed in particular.
In order to achieve the technical effects, the technical scheme of the application is as follows:
a non-contact gripper, characterized in that: the automatic leather cutting machine comprises a gripper body, a leather cutting knife is arranged at the outer edge of the bottom of the gripper body, a cutting edge is arranged at the bottom of the leather cutting knife, an annular groove is formed in the bottom of the gripper body, an air outlet is formed in the side edge of the annular groove, and the gripper body adsorbs the flour leather to the next station through suction. The gripper body specifically adsorbs and moves the dough sheet after cutting the dough sheet from the cut Pi Gongwei to a forming die, and then the forming die conveys the dough sheet to a stuffing filling station; or the dough cover can be directly moved to the stuffing filling station through adsorption. Because the air outlet is arranged on the side wall of the annular groove, negative-pressure airflow can flow along the annular groove, so that a negative-pressure vortex airflow similar to the tornado principle is formed. The gripper body moves downwards to cut the dough sheet on the synchronous conveying mechanism, the dough sheet obtained after the dough sheet is cut is adsorbed, the gripper body moves upwards to the initial horizontal position of the gripper body, the gripper body moves horizontally, the adsorbed dough sheet is placed on the next station, and finally the gripper body is reset, so that a complete dough sheet cutting process is realized.
The air outlet is obliquely arranged, and the inclination direction of the air outlet is the same as the circumferential direction of the annular groove. The air outlet that the slant was seted up can make negative pressure air current more adapt to the annular groove for negative pressure air current flows in the annular groove more easily.
The bottom of the gripper body is also provided with a plurality of small holes, and needles are arranged in the small holes. For assistance and insurance, avoid the face skin to take place to drop at absorbing in-process, can also set up the needle in the tongs bottom, the needle pierces into face skin upper surface, provides certain upward pulling force, guarantees that the adsorption affinity of face skin is enough, when falling the skin, can upwards promote the needle a certain distance for the upper surface that the needle can the face skin is taken out, thereby does not influence the falling skin of face skin.
The number of the air outlets is at least two. The two air outlets can form stronger rotary suction force, and the dough cover can be better adsorbed.
The top of gripper body is connected with the breather pipe, breather pipe one end links to each other with a plurality of air outlets, and the other end is connected with the air compressor machine. The breather pipe transmits negative pressure to the gripper body, so that the gripper body can adsorb the dough sheet after cutting the dough sheet through the oblique air outlet.
The needle in the aperture is reciprocally movable up and down relative to the aperture surface. The reciprocating motion can better realize the placing action of the dough cover, and the phenomenon that the dough cover is adhered with a needle when placed and the placing of the dough cover is affected is avoided. The motion can be realized by additionally arranging a mounting plate connected with the needle in the gripper body, and the mounting plate can drive the needle to reciprocate through a cylinder or other driving mechanisms.
The working principle of the application is as follows:
the gripper body cuts the dough sheet on the synchronous conveying mechanism through downward movement, the dough sheet after the dough sheet is cut is adsorbed and moves upwards to an initial horizontal position, the horizontal movement mechanism drives the non-contact gripper to do horizontal movement, the adsorbed dough sheet is placed on the next station, and finally the non-contact gripper is reset, so that a complete dough sheet cutting process is realized.
Specifically, the edges are arranged on the periphery of the gripper body, so that the skin cutting of the dough sheet is realized, and the gripper body is adsorbed on the back skin of the dough sheet through negative pressure provided by the air outlet arranged on the inner wall of the annular groove.
The application has the advantages that:
1. the gripper body can directly horizontally move the dough sheet from the dough cutting station to the dough receiving station, but the dough sheet is poked into the next station vertically downwards in a non-transmission method, so that the expansibility of the whole machine is better, and when the moisture content of the processed dough sheet is higher, the problem that the dough sheet is difficult to adhere or the dough sheet is elongated and thinned is solved.
2. The negative pressure type is adopted to provide adsorption force for the dough cover, so that the appearance integrity of the dough cover can be guaranteed to the greatest extent, and the dough cover can be adsorbed by utilizing the vortex suction force by adopting the design of the annular groove and the air outlet, so that the adsorption effect is enhanced.
3. Adopt the adsorption affinity of gripper body to the face skin is strengthened to the structure of little needle, can avoid the face skin to lead to the condition that drops to appear because the adsorption affinity is not strong.
Drawings
Fig. 1 is a schematic view of the structure of a non-contact gripper.
Fig. 2 is a schematic view of the structure of the middle part of the gripper body (with the cutting edge portion removed).
Fig. 3 is a schematic cross-sectional view of the gripper body.
FIG. 4 shows the middle part of the gripper body (with the cutting edge removed) the bottom surface is provided with a small hole and a needle structure schematic diagram.
Fig. 5 is a schematic view of the non-contact gripper from below.
In the accompanying drawings: gripper body 1101, cutting edge 1102, annular groove 1103, air outlet 1104, aperture 1105, needle 1106, vent tube 1107.
Detailed Description
Example 1
The non-contact gripper comprises a gripper body 1101, a skin cutter is arranged at the outer edge of the bottom of the gripper body 1101, a cutting edge 1102 is arranged at the bottom of the skin cutter, an annular groove 1103 is arranged at the bottom of the gripper body 1101, an air outlet 1104 is arranged at the side edge of the annular groove 1103, and the gripper body 1101 adsorbs dough to the next station through suction. Specifically, the gripper body 1101 adsorbs and moves the dough sheet after being cut from the cutter Pi Gongwei to a forming die, and then the forming die conveys the dough sheet to a stuffing filling station; or the dough cover can be directly moved to the stuffing filling station through adsorption. Since the air outlet 1104 is disposed on the side wall of the annular groove 1103, the negative pressure air flows along the annular groove 1103, thereby forming a negative pressure vortex air flow similar to the tornado principle. The gripper body 1101 cuts the dough sheet on the synchronous conveying mechanism through downward movement, adsorbs the dough sheet after the dough sheet is cut, moves upwards to an initial horizontal position, and the horizontal movement mechanism drives the non-contact gripper to do horizontal movement, places the adsorbed dough sheet on the next station, and finally resets the non-contact gripper, so that a complete set of dough sheet cutting process is realized. The gripper body 1101 can directly horizontally move the dough sheet from the dough cutting station to the dough receiving station, and the dough sheet is poked into the next station vertically downwards instead of in a transmission method, so that the expansibility of the whole machine is better, and when the moisture content of the processed dough sheet is high, the problem that the dough sheet is difficult to adhere or the dough sheet is elongated and thinned is solved.
Example 2
The non-contact gripper comprises a gripper body 1101, a skin cutter is arranged at the outer edge of the bottom of the gripper body 1101, a cutting edge 1102 is arranged at the bottom of the skin cutter, an annular groove 1103 is arranged at the bottom of the gripper body 1101, an air outlet 1104 is arranged at the side edge of the annular groove 1103, and the gripper body 1101 adsorbs dough to the next station through suction. Specifically, the gripper body 1101 adsorbs and moves the dough sheet after being cut from the cutter Pi Gongwei to a forming die, and then the forming die conveys the dough sheet to a stuffing filling station; or the dough cover can be directly moved to the stuffing filling station through adsorption. Since the air outlet 1104 is disposed on the side wall of the annular groove 1103, the negative pressure air flows along the annular groove 1103, thereby forming a negative pressure vortex air flow similar to the tornado principle.
The air outlet 1104 is obliquely opened, and the inclination direction of the air outlet 1104 is the same as the circumferential direction of the annular groove 1103. The air outlet 1104 formed in an inclined manner can enable the negative pressure air flow to be more suitable for the annular groove 1103, so that the negative pressure air flow can flow in the annular groove 1103 more easily.
The bottom of the gripper body 1101 is further provided with a plurality of small holes 1105, and needles 1106 are arranged in the small holes 1105. For the assistance and safety, avoid the face skin to take place to drop at absorbing in-process, can also set up needle 1106 in the tongs bottom, needle 1106 pierces the face skin upper surface, provides certain upward pulling force, guarantees that the adsorption affinity of face skin is enough, when falling the skin, can upwards promote certain distance with needle 1106 for needle 1106 can the upper surface of face skin be taken out, thereby do not influence the falling skin of face skin.
The number of the air outlets 1104 is at least two. The two air outlets 1104 can form stronger rotary suction force and can better adsorb the dough cover.
The top of the gripper body 1101 is connected with a vent pipe 1107, one end of the vent pipe 1107 is connected with a plurality of air outlets 1104, and the other end is connected with an air compressor. The breather pipe 1107 transmits negative pressure to the gripper body 1101, so that the gripper body 1101 can adsorb the dough sheet with the cut dough sheet through the slant air outlet 1104.
The needle 1106 in the aperture 1105 may reciprocate up and down relative to the surface of the aperture 1105. The reciprocating motion can better realize the placement action of the dough cover, and the phenomenon that the dough cover is adhered to the needle 1106 when placed and the placement of the dough cover is affected is avoided. This may be accomplished by providing an additional mounting plate within the gripper body 1101 that is coupled to the needle 1106, and by which the needle 1106 may be reciprocated by a cylinder or other drive mechanism.
The gripper body 1101 cuts the dough sheet on the synchronous conveying mechanism through downward movement, adsorbs the dough sheet after the dough sheet is cut, moves upwards to an initial horizontal position, and the horizontal movement mechanism drives the non-contact gripper to do horizontal movement, places the adsorbed dough sheet on the next station, and finally resets the non-contact gripper, so that a complete set of dough sheet cutting process is realized. Specifically, the edges 1102 are arranged on the periphery of the gripper body 1101, so that the skin of the skin is cut, and the gripper body 1101 is adsorbed on the skin behind the skin through negative pressure provided by the air outlet 1104 arranged on the inner wall of the annular groove 1103.
The gripper body 1101 can directly horizontally move the dough sheet from the dough cutting station to the dough receiving station, and the dough sheet is poked into the next station vertically downwards instead of in a transmission method, so that the expansibility of the whole machine is better, and when the moisture content of the processed dough sheet is high, the problem that the dough sheet is difficult to adhere or the dough sheet is elongated and thinned is solved. The negative pressure is adopted to provide adsorption force for the dough cover, so that the appearance integrity of the dough cover can be guaranteed to the greatest extent, and the design of the annular groove 1103 and the air outlet 1104 can utilize the vortex suction force to adsorb the dough cover, so that the adsorption effect is enhanced. The structure of the small needle 1106 is adopted to strengthen the adsorption force of the gripper body 1101 on the dough cover, so that the falling condition of the dough cover caused by weak adsorption force can be avoided.
Claims (3)
1. A non-contact gripper, characterized in that: the automatic flour sheet cutting machine comprises a gripper body (1101), wherein a leather cutter is arranged at the outer edge of the bottom of the gripper body (1101), a cutting edge (1102) is arranged at the bottom of the leather cutter, an annular groove (1103) is arranged at the bottom of the gripper body (1101), an air outlet (1104) is arranged at the side edge of the annular groove (1103), and the gripper body (1101) adsorbs flour sheets to the next station through suction;
the gripper body (1101) moves downwards to cut the dough sheet on the dough belt on the synchronous conveying mechanism, the dough sheet obtained after the dough sheet cutting is absorbed and moves upwards to the initial horizontal position of the gripper body (1101), the gripper body (1101) moves horizontally, the absorbed dough sheet is placed on the next station, and finally the gripper body (1101) resets, so that a complete set of cut Pi Gongxu is realized;
the bottom of the gripper body (1101) is also provided with a plurality of small holes (1105), and needles (1106) are arranged in the small holes (1105);
the needle (1106) in the aperture (1105) is reciprocally movable up and down relative to the surface of the aperture (1105);
the needle (1106) pierces the upper surface of the dough cover to provide an upward pulling force, so that the adsorption force of the dough cover is enough, and when the dough cover falls, the needle (1106) is lifted upwards for a certain distance, so that the upper surface of the dough cover can be pulled out, and the falling of the dough cover is not influenced;
the air outlet (1104) is obliquely arranged, and the inclination direction of the air outlet (1104) is the same as the circumferential direction of the annular groove (1103).
2. The non-contact gripper of claim 1, wherein: the number of the air outlets (1104) is at least two.
3. The non-contact gripper of claim 2, wherein: the top of gripper body (1101) is connected with breather pipe (1107), breather pipe (1107) one end links to each other with a plurality of air outlets (1104), and the other end is connected with the air compressor machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710624443.1A CN109303086B (en) | 2017-07-27 | 2017-07-27 | Non-contact gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710624443.1A CN109303086B (en) | 2017-07-27 | 2017-07-27 | Non-contact gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109303086A CN109303086A (en) | 2019-02-05 |
| CN109303086B true CN109303086B (en) | 2024-02-02 |
Family
ID=65202269
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710624443.1A Active CN109303086B (en) | 2017-07-27 | 2017-07-27 | Non-contact gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109303086B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0970253A (en) * | 1995-09-05 | 1997-03-18 | Ogawa Shokuhin Kk | Device for transferring sheet-like soft dough and transfer of the dough |
| RU2179504C1 (en) * | 2000-11-17 | 2002-02-20 | Волгоградский государственный технический университет | Vacuum-type gripping apparatus |
| CN101172540A (en) * | 2006-10-02 | 2008-05-07 | Smc株式会社 | Contact-free transport device |
| JP2010098179A (en) * | 2008-10-17 | 2010-04-30 | Ngk Spark Plug Co Ltd | Device and method for non-contact carrying of wiring board, and method of manufacturing resinous wiring board |
| JP2010154772A (en) * | 2008-12-26 | 2010-07-15 | Yamazaki Baking Co Ltd | Sheet-like piece stacker |
| CN203945363U (en) * | 2014-05-22 | 2014-11-19 | 温增璟 | A kind of manipulator |
| CN204802636U (en) * | 2015-06-19 | 2015-11-25 | 陈晓辉 | Sponge material is pricked to get and is snatched set composite |
| CN204976647U (en) * | 2015-06-23 | 2016-01-20 | 陈晓辉 | Sponge material pay -off grabbing device |
| CN207219980U (en) * | 2017-07-27 | 2018-04-13 | 成都松川雷博机械设备有限公司 | Non-contact gripper |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070292575A1 (en) * | 2004-09-23 | 2007-12-20 | Alon Ofir | Machinery And Method For Manufacturing Shaped Pita Bread |
-
2017
- 2017-07-27 CN CN201710624443.1A patent/CN109303086B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0970253A (en) * | 1995-09-05 | 1997-03-18 | Ogawa Shokuhin Kk | Device for transferring sheet-like soft dough and transfer of the dough |
| RU2179504C1 (en) * | 2000-11-17 | 2002-02-20 | Волгоградский государственный технический университет | Vacuum-type gripping apparatus |
| CN101172540A (en) * | 2006-10-02 | 2008-05-07 | Smc株式会社 | Contact-free transport device |
| JP2010098179A (en) * | 2008-10-17 | 2010-04-30 | Ngk Spark Plug Co Ltd | Device and method for non-contact carrying of wiring board, and method of manufacturing resinous wiring board |
| JP2010154772A (en) * | 2008-12-26 | 2010-07-15 | Yamazaki Baking Co Ltd | Sheet-like piece stacker |
| CN203945363U (en) * | 2014-05-22 | 2014-11-19 | 温增璟 | A kind of manipulator |
| CN204802636U (en) * | 2015-06-19 | 2015-11-25 | 陈晓辉 | Sponge material is pricked to get and is snatched set composite |
| CN204976647U (en) * | 2015-06-23 | 2016-01-20 | 陈晓辉 | Sponge material pay -off grabbing device |
| CN207219980U (en) * | 2017-07-27 | 2018-04-13 | 成都松川雷博机械设备有限公司 | Non-contact gripper |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109303086A (en) | 2019-02-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203331089U (en) | Areca-nut slicer | |
| CN104528008B (en) | The dress bowl of bowl-shape instant food feeds intake closure system | |
| CN205009589U (en) | Gauze mask breather valve automatic weld machine | |
| CN204383808U (en) | A kind of plastic cup papery fixes the boxing apparatus of card packaging product | |
| CN204341435U (en) | The dress bowl of bowl-shape instant food feeds intake closure system | |
| CN107821511A (en) | A kind of blank formula send mould custard tart machine automatically | |
| CN203973683U (en) | A kind of sofa tooth bar rush film device | |
| CN106672348A (en) | High-speed and reliable discharging punching device and method of medicine blister packaging machine | |
| CN109303087B (en) | Vertical cutting leather mechanism | |
| CN204278584U (en) | Highspeedrotarytabletpress | |
| CN109303086B (en) | Non-contact gripper | |
| CN204206985U (en) | Egg tart skin production system | |
| CN204657235U (en) | A kind of enamel pan inner metallic layer conveying trimming device | |
| CN207235942U (en) | It is provided with the musculus cutaneus conveying mechanism of untouchable gripper cutting device for noodle production | |
| CN109303089B (en) | Non-contact gripper section cutting device | |
| CN109303085B (en) | Dough sheet conveying mechanism provided with non-contact gripper dough cutting device | |
| CN207219980U (en) | Non-contact gripper | |
| CN207854917U (en) | A kind of blank formula send mould custard tart machine automatically | |
| CN109303088B (en) | Stuffed food forming machine with non-contact dough cutting mechanism | |
| CN107082135B (en) | Efficient and reliable rice ball packaging machine | |
| CN205325799U (en) | Mushroom section device | |
| CN207219987U (en) | Untouchable gripper cutting device for noodle production | |
| CN205166984U (en) | Vertical cutting machine of dried tofu with automatically, advance row material function | |
| CN202379489U (en) | Cutting machine conveying device | |
| CN207219979U (en) | Vertical skin-removing mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |